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changed defaults of MPC acceleration limit parameters 

- vehicle will fly less aggressive
- it does not make sense to set the lower acceleration limit to something
that exceeds gravity if most of the vehicles do not support reverse thrust

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2019-07-23 17:25:41 +02:00 committed by Daniel Agar
parent a5d3e10c67
commit 81ae85015f
1 changed files with 4 additions and 4 deletions
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8
src/modules/mc_pos_control/mc_pos_control_params.c
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@ -451,7 +451,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
/**
* Acceleration for auto and for manual
@ -466,7 +466,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
/**
* Slow horizontal manual deceleration for manual mode
@ -507,7 +507,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
/**
* Maximum vertical acceleration in velocity controlled modes down
@ -519,7 +519,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
/**
* Maximum jerk limit